KR20130025923A - Instrument for minimally invasive surgery having shaft including inner torque transmission member - Google Patents

Abstract

PURPOSE: An instrument for minimally invasive surgery having a shaft including an inner torque transmission member is provided to improve the roll direction operation characteristic of an end effecter. CONSTITUTION: An end effecter(100) is connected to an end of a shaft(130). The shaft includes a curved portion(131,132). The curved portion transfers torque to a torque transmitting member. The torque transmitting member includes a tube portion. The tube portion includes a coil-shaped tube.

Description

Instrument for Minimally Invasive Surgery Having Shaft Including Inner Torque Transmission Member

The present invention relates to a minimally invasive surgery instrument having a shaft comprising an internal torque transfer member.

Minimally invasive surgery is a surgical technique that minimizes surgical incisions by performing surgery by inserting surgical instruments into the body of a patient (or animal, etc. subject to the surgery) through at least one small incision.

Such minimally invasive surgery may help to reduce the metabolic process changes in the patient after the surgery, which may help to shorten the patient's recovery period. That is, the application of minimally invasive surgery can shorten the hospital stay after surgery and allow the patient to return to normal life within a short time after surgery. Minimally invasive surgery may also reduce pain the patient feels while reducing scarring in the patient after surgery.

The most common form of minimally invasive surgery is endoscopic surgery. Among them, the most common type of surgery is laparoscopic surgery with minimally invasive irradiation and surgery in the abdominal cavity. In standard laparoscopic surgery, the patient's abdomen is filled with gas, and at least one small incision is made to provide an entrance to the laparoscopic surgical tool, followed by the insertion of a trocar. Will be performed. In performing such an operation, a user generally enters a laparoscopic surgical tool through a trocar and manipulates (or controls) it outside the abdominal cavity. Such laparoscopic surgical instruments generally include laparoscopic (for observation of surgical sites and the like) and other working tools. Here, the working tool is similar to that used in conventional open surgery, except that the working end (or distal end) of each tool is spaced apart from the handle or the like by a predetermined shaft. That is, the work tool may include, for example, a clamp, grasper, scissors, stapler, needle holder, and the like. On the other hand, the user monitors the operation progress by a monitor that displays an image of the surgical site taken by the laparoscopic. Similar endoscopic techniques are used throughout laparoscopy, pelvis, arthroscopy, hydrocephalus, paranasal, uterine, kidney, bladder, urethral, renal and so on.

The present inventor (s) have developed various minimally invasive surgical instruments that can be usefully used for the minimally invasive surgery as described above, and their structural features and effects are characterized by Korean Patent Application No. 2008-51248, 2008. It has been disclosed through -61894, 2008-79126 and 2008-90560 (the specifications of the Korean patent applications should each be regarded as incorporated herein in their entirety). In addition, the inventor (s) has introduced through the Korean Patent Application Nos. 2010-115152 and 2011-3192 regarding minimally invasive surgical instruments whose functions are improved to be more advantageous to the user and the patient. The specifications of the patent applications are each to be regarded as incorporated herein in their entirety).

The inventor (s) now proposes, through this specification, a minimally invasive surgical instrument that is more convenient for a user to operate while still having the functional advantages of the minimally invasive surgical instrument introduced through the Korean patent applications.

SUMMARY OF THE INVENTION The present invention has been made to solve all the problems of the prior art described above.

It is another object of the present invention to provide a minimally invasive surgical instrument having a curved shaft and good roll direction operating characteristics of the end effector.

Another object of the present invention is to provide a minimally invasive surgical instrument capable of preventing collision of end effectors even when two or more are used together.

It is another object of the present invention to provide a minimally invasive surgical instrument capable of preventing interference of the handle portion even when two or more are used together.

In order to accomplish the above object, a representative structure of the present invention is as follows.

According to one aspect of the invention, there is provided a minimally invasive surgical instrument comprising a shaft and an end effector connected to one end of the shaft, the shaft including at least one curved portion, wherein the at least one curved portion is the end effector. There is provided a minimally invasive surgical instrument capable of transmitting a torque for operating the in the roll direction by a torque transmission member therein.

In addition to this, other configurations for implementing the present invention may be further provided.

According to the present invention, there is provided a minimally invasive surgical instrument having a curved shaft and good roll direction operating characteristics of the end effector.

According to the present invention, even when two or more are used together, a minimally invasive surgical instrument is provided that can prevent the impact of the end effector.

According to the present invention, even when two or more are used together, there is provided a minimally invasive surgical instrument that can prevent interference with the handle portion.

1 is a view showing the overall appearance of the minimally invasive surgical instrument according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating the interior of the first curved portion 131 and the second curved portion 132 of FIG. 1.
3 is a cross-sectional view of the first flexible resin 133 of FIG. 2.
4 is a view showing in detail the configuration of the first flexible resin 133 of FIG. 2.
5 is an exploded view illustrating a part of the handle part 110 of FIG. 1.
FIG. 6 illustrates an interior of a portion of a minimally invasive surgical instrument in accordance with another embodiment of the present invention. FIG.
FIG. 7 is a cross-sectional view of a part of the first curved portion 131 of FIG. 6.
FIG. 8 is a view showing that the end effector 100 and the first rotating member 133 ′ of FIG. 6 are connected.
FIG. 9 is an exploded view illustrating a part of the handle part 110 of FIG. 6.
10 is a diagram illustrating the interior of a portion of the minimally invasive surgical instrument in accordance with another embodiment of the present invention.
FIG. 11 is a diagram illustrating the connection of the end effector 100 of FIG. 10 and its adjacent rotating member 136 ″.
12 is an exploded view of some of the components shown in FIG. 11;
13 is a view showing the opening and closing wire (OW) is connected in the minimally invasive surgical instrument according to an embodiment of the present invention.
14 illustrates an interior of a portion of a minimally invasive surgical instrument in accordance with another embodiment of the present invention.
15 and 16 are exploded views illustrating the tube part 136 ′ ″ of FIG. 14 connected to the end effector 100 and the handle part 110, respectively.

DETAILED DESCRIPTION The following detailed description of the invention refers to the accompanying drawings that show, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein may be implemented with changes from one embodiment to another without departing from the spirit and scope of the invention. It is also to be understood that the location or arrangement of the individual components within each embodiment may be varied without departing from the spirit and scope of the present invention. Therefore, the following detailed description is not to be taken in a limiting sense, and the scope of the present invention should be construed as encompassing the scope of the appended claims and all equivalents thereof. In the drawings, like reference numbers designate the same or similar components throughout the several views.

Hereinafter, various preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement the present invention.

[Preferred Embodiment of the Present Invention]

Example  One

1 is a view showing the overall appearance of the minimally invasive surgical instrument according to an embodiment of the present invention. 2 is a diagram illustrating the interior of the first curved portion 131 and the second curved portion 132 of FIG. 1.

Will be described with reference to FIG. Minimally invasive surgical instruments according to the present embodiment, the end effector 100 that can perform the operation by using a surgical tool (not shown) or by itself as a surgical tool, the end effector 100 according to the user's operation Handle portion 110 that can control the operation, the end effector 100 and one end disposed so that the end effector 100 can operate in a roll (roll) direction and the other end, the handle portion 110 is disposed, the handle It may include a shaft 130 connecting the unit 110, and the first curved portion 131 and the second curved portion 132 of the shaft 130. The first curved portion 131 may be disposed close to the end effector 100 as shown, and the second curved portion 132 may be disposed close to the handle portion 110 as shown. The first curved portion 131 may be formed in a curved shape as shown in order to prevent collision of the end effector 100 when two or more minimally invasive surgical instruments are used together, and the second curved portion ( 132 may be formed in a shape that is extended outward from the longitudinal central axis of the shaft 130, as shown in order to prevent interference of the handle portion 110, etc. when two or more minimally invasive surgical instruments are used together. Can be.

It looks at with reference to FIG. The shaft 130 may include a first flexible resin 133, a second flexible resin 134, and a plurality of linear members 136 therein (the flexible resin may be formed of Teflon or the like, and is preferable. Preferably, the straight member 136, which may be cylindrical, may be formed of a non-flexible material). The first flexible resin 133 and the second flexible resin 134 substantially correspond to the first curved portion 131 and the second curved portion 132 of the outer shaft 130, respectively, so that the end effector 100 is provided. And the straight line member 136 may be connected between the handle 110. Such flexible resins 133 and 134 are such that when the user rotates the roll sprocket 155 included in the handle portion 110 (that is, torque is applied to the roll sprocket 155), the shaft 130 moves in the roll direction. The end effector 100 can be operated in the roll direction even if it is not operated. (In this case, the flexible resins 133 and 134 and the linear member 136 can also be operated in the roll direction together with the end effector 100. have).

3 is a cross-sectional view of the first flexible resin 133 of FIG. 2. 4 is a figure which shows the structure of the 1st flexible resin 133 of FIG. 2 in detail.

It looks at with reference to FIG. 3 and FIG. As shown in FIG. 4, the first flexible resin 133 has a structure in which the bending member A that can be bent in the pitch direction and the bending member B that can be bent in the yaw direction are alternately arranged. Can have The bending member A may consist of two disk-shaped members a1 and a3 and one connecting member a2 connecting them between them (preferably, the connecting member a2 is a disk-shaped member a1). And a predetermined central axis of a3). This connecting member a2 may allow the bending member A to bend only in the pitch direction. In the same principle, the bending member B can be configured to be bent only in the yaw direction.

5 is an exploded view illustrating a part of the handle part 110 of FIG. 1.

It looks at with reference to FIG. The straight member 136 is connected with the roll sprocket 155, so that when the user rotates the roll sprocket 155, the second flexible resin 134 and the first flexible resin 133, which rotation is connected thereto. And end effector 100. In this case, the shaft 130 does not operate in the roll direction, and only the flexible resins 133 and 134 and the linear member 136 operate in the roll direction, so that the end effector 100 does not perform other operations almost in a roll. Can operate in a direction. On the other hand, when the user manipulates the rotatable handle 113 of the handle portion 110, the opening and closing wire 179 connected thereto may be pushed or pulled to open and close the end effector 100, the above-mentioned Korean patent As in the inventions of the applications.

The following various embodiments will be described focusing on the configuration similar to the configuration according to the first embodiment of the present invention or the configuration changed from the configuration according to the first embodiment of the present invention.

Example  2

FIG. 6 illustrates an interior of a portion of a minimally invasive surgical instrument in accordance with another embodiment of the present invention. FIG.

It looks at with reference to FIG.

The minimally invasive surgical instrument according to the present embodiment is similar to the minimally invasive surgical instrument according to the first embodiment, the end effector 100, the handle portion 110, the shaft 130, the first curved portion 131, and the second curved portion. 132 may include. Even in this embodiment, the end effector 100 can perform the roll direction operation and / or the opening and closing operation.

The shaft 130 may include first rotating members 133 ′ to fourth rotating members 136 ′ therein. As illustrated, the first rotating member 133 ′ to the fourth rotating member 136 ′ may be surrounded by the shaft 130 while being sequentially connected from the end effector 100 to the handle part 110. In order to achieve the unique effects of the present invention, each of the first rotating member 133 'to the fourth rotating member 136' may be connected in an inclined state at an angle with respect to the adjacent rotating member. . The first curved portion 131 and the second curved portion 132 may be curved portions on the shaft 130 due to this inclination.

The first rotating member 133 'to the fourth rotating member 136' work together to transfer the rotation from the handle portion 110 to the end effector 100 so that the end effector 100 operates in the roll direction. (In this case, shaft 130 may not operate in the roll direction). The first rotating member 133 ′ to the fourth rotating member 136 ′ may have a crown gear structure or a bevel gear structure at at least one of both ends thereof for the above cooperative action. For smooth rotation transmission, at least some of the first rotation member 133 ′ to the fourth rotation member 136 ′ may be formed of a material that is not flexible and has low torsion.

FIG. 7 is a cross-sectional view of a part of the first curved portion 131 of FIG. 6.

It looks at with reference to FIG. As shown, the second rotating member 134 ′ and the third rotating member 135 ′ may each include a crown gear structure at ends that obliquely engage each other. Typically, the crown gear structure of the second rotating member 134 ′ and the crown gear structure of the third rotating member 135 ′ are obliquely engaged with each other without being entirely engaged with each other, so that only some of the tooth teeth and some tooth valleys are present. Can be interlocked with each other. When such a mechanical structure is exposed in the patient's body, it is dangerous to the patient and the mechanical structure is also easily damaged, so that each of the rotating members 133 'to 136' and its connecting portion need to be tightly surrounded by the shaft 130. There is.

FIG. 8 is a view showing that the end effector 100 and the first rotating member 133 ′ of FIG. 6 are connected.

It looks at with reference to FIG. As shown, a pin hole PH may be formed at the opposite end of the forceps for picking up the surgical tool of the end effector 100 and the opposite end of the first rotating member 133 '. Accordingly, the end effector 100 may be attached or detached (by a pin (not shown)) to the first rotating member 133 ′ included in the shaft 130 as necessary.

FIG. 9 is an exploded view illustrating a part of the handle part 110 of FIG. 6.

It looks at with reference to FIG. As shown, the fourth rotating member 136 ′ may be connected to the roll sprocket 155 by the rotating member 140. Therefore, when the user rotates the roll sprocket 155, this rotation is passed through the rotating member 140 connected thereto and the end effector (via the fourth rotating member 136 'to the first rotating member 133'). 100). In this case, the shaft 130 does not operate in the roll direction, and only the rotating members 133 'to 136' and the rotating member 140 operate in the roll direction, so that the end effector 100 hardly performs other operations. It can be operated in the roll direction without.

On the other hand, when the user manipulates the rotatable handle (not shown) of the handle unit 110, the opening and closing wire (not shown) connected to it may be pushed or pulled to open and close the end effector 100 Same as in Example 1. For this configuration, a cavity may be formed in the above-mentioned rotating members 133 ′ to 136 ′ and the rotating member 140.

Example  3

10 is a diagram illustrating the interior of a portion of the minimally invasive surgical instrument in accordance with another embodiment of the present invention.

It looks at with reference to FIG.

The minimally invasive surgical instrument according to the present embodiment is similar to the minimally invasive surgical instrument according to the first embodiment, the end effector 100, the handle portion 110, the shaft 130, the first curved portion 131, and the second curved portion. 132 may include. Even in this embodiment, the end effector 100 can perform the roll direction operation and / or the opening and closing operation.

The shaft 130, in particular, in the first bend 131 and the second bend 132, is a plurality of universal joints 139 and a plurality of universal joints 139 connected to at least one of both ends. May include a rotating member 136 '' therein. In order to achieve the unique effects of the present invention, each of the plurality of rotating members 136 " passes through the corresponding universal joint 139, as shown, of the first bend 131 and the second bend 132, respectively. It may be connected to each other having an inclination angle and a length suitable for forming.

FIG. 11 is a diagram illustrating the connection of the end effector 100 of FIG. 10 and its adjacent rotating member 136 ″.

It looks at with reference to FIG. As shown, the end effector 100 and the rotating member 136 ″ adjacent thereto may be connected through a universal joint 139 and a connecting member 138 fixed to the end effector 100. (In this case, the universal joint 139 may be formed with a plurality of joint holes JH as described later). The rotating member 136 ″ transmits the rotation it receives to the end effector 100 via the universal joint 139 and the connecting member 138 with almost no movement in the other direction of the end effector 100. Can be. In this case, the rotation received by the rotating member 136 ″ may be transmitted from the handle part 110 via several other rotating members 136 ″ according to the same principle.

12 is an exploded view of some of the components shown in FIG. 11;

It looks at with reference to FIG. As shown, the universal joint 139 connecting the connecting member 138 and the rotating member 136 ″ may include one cube gimbal 171 and two U-shaped fittings 172. These two U-shaped fittings 172 are disposed at the ends of the connecting member 138 and the rotating member 136 '', respectively, and through the cube gimbal 171, the cube gimbal 171 and the U-shaped fittings. It may be connected to each other by a pin (not shown) inserted into the joint hole (JH) of the (172).

13 is a view showing the opening and closing wire (OW) is connected in the minimally invasive surgical instrument according to an embodiment of the present invention.

This will be described with reference to FIGS. 12 and 13. As shown, an opening and closing wire OW capable of performing the same function as introduced in Embodiment 1 is connected from the end effector 100 to the connecting member 138, the universal joint 139, the rotating member 136 ″. It may be connected to the handle portion 110 through). For this configuration, a cavity for transmitting the opening and closing wire OW may be formed in the connection member 138 and the rotating member 136 ″. The opening / closing wire OW may cross the universal joint 139 through its joint hole JH.

Example  4

14 illustrates an interior of a portion of a minimally invasive surgical instrument in accordance with another embodiment of the present invention.

It looks at with reference to FIG.

The minimally invasive surgical instrument according to the present embodiment is similar to the minimally invasive surgical instrument according to the first embodiment, the end effector 100, the handle portion 110, the shaft 130, the first curved portion 131, and the second curved portion. 132 may include. Even in this embodiment, the end effector 100 can perform the roll direction operation and / or the opening and closing operation.

The shaft 130 may include one long tube portion 136 ′ ″ connecting the end effector 100 and the handle portion 110 therein. As shown in the drawing, the tube portion 136 ′ ″ may be formed by winding one strand of a long metal or non-metallic material into a coil shape. In order to achieve the peculiar effects of the present invention, the tube portion 136 ′ ″ may have a form suitable for forming the first curved portion 131 and the second curved portion 132.

The tube portion 136 ′ ″ as described above may transmit the rotation received from the handle portion 110 to the end effector 100 with little effect on the other direction of the end effector 100.

15 and 16 are exploded views illustrating the tube part 136 ′ ″ of FIG. 14 connected to the end effector 100 and the handle part 110, respectively.

First, as shown in FIG. 15, a pin hole PH is formed at an end portion of the tube portion 136 ′ ″ toward the end effector 100, so that the tube portion 136 ′ ″ may be a fin (not formed). It may be fixed to the end effector 100 by the (shown).

In addition, as shown in FIG. 16, the end portion of the tube portion 136 ′ ″ of the handle portion 110 side is connected to the rotating member 140 included in the handle portion 110 and connected thereto to perform rotation thereof. It may be configured to be delivered. Specifically, in the center of the end portion of the tube portion 136 ′ ″ side of the handle portion 110 so that the tube portion 136 ′ ″ may receive the above rotation from the rotating member 140. Suitable forms of cavities (not shown) may be formed. Due to this configuration, when the rotation of the rotating member 140 in the handle portion 110 is caused, the resulting torque is the end of the tube portion 136 '' '', the end of the handle portion 110 side, tube portion 136 '' 'Coil and the end of the tube portion 136' '' through the end effector 100 side end to the end effector 100, the roll effect of the end effector 100 It becomes possible.

On the other hand, it will be apparent to those skilled in the art that the opening and closing wire (not shown) may be transmitted through the cavity in the tube portion 136 ′ ″.

On the other hand, the configuration in which the coiled tube of the tube portion 136 '' 'as described above is replaced with a non-coiled tube such as a known torsion tube (not shown) is also included in the scope of the present embodiment. Should be seen.

The Application example

According to an application of the present invention, at least some of the components, such as the handle portion 110 of the minimally invasive surgical instrument, may be changed to a component suitable for being driven by a motor-based system (not shown) such as a surgical robot or the like. By modifying, the minimally invasive surgical instrument can be configured to be controlled according to the automatic (or semi-automatic) operation in which the system is involved, rather than the manual operation of the user.

For example, an electric motor (not shown) included in the surgical robot may include a straight member 136, a rotating member 136 ′, a rotating member 136 ″, a tube portion 136 ′ ″, a rotation. The end effector 100 may be operated in the roll direction by directly rotating at least one of the dedicated member 140 and the roll sprocket 155.

For another example, the electric motor can control the opening or closing of the end effector 100 by performing a drive to pull the opening / closing wire OW directly.

In another example, the system can lock the rolling or open state of the end effector 100 by controlling the drive of the electric motor.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, Those skilled in the art will appreciate that various modifications and changes may be made thereto without departing from the scope of the present invention.

Accordingly, the spirit of the present invention should not be construed as being limited to the above-described embodiments, and all ranges that are equivalent to or equivalent to the claims of the present invention as well as the claims .

100: end effector
110: handle portion
130: shaft
131: first bend
132: second bend

Claims (2)

As a minimally invasive surgical instrument,
Shaft, and
An end effector connected to one end of the shaft
Including,
The shaft includes at least one curved portion,
The at least one curved portion may transmit torque for operating the end effector in the roll direction by a torque transmission member therein,
The torque transmitting member includes a tube portion,
The tube portion includes one curved coiled tube
Minimally invasive surgical instruments. The method of claim 1,
It further comprises an opening and closing wire connected to the end effector,
The opening and closing wire is connected through a cavity formed in the tube portion
Minimally invasive surgical instruments.

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